Dual-Gripper Robotic Hand With Bendable Fingers for Workpiece Transfer
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Solution Overview
Problem
Existing robotic hands lack the capability to perform various actions efficiently, leading to increased workload for robot arms or devices when multiple actions are required, as they often rely on single grippers for multiple tasks.
Innovation Solution
A hand with two grippers, where the first gripper includes two fingers that can be opened, closed, and bent to move between interference and non-interference positions, allowing cooperation with a second gripper to achieve stable and versatile gripping and delivery of workpieces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single gripper is used to perform multiple actions, then the device complexity is reduced, but the productivity and versatility of the robotic system decrease
Solution Approach 1:
The robotic hand is segmented into two independent grippers (first gripper with two fingers and second gripper), allowing each gripper to perform specific actions. This segmentation enables the system to achieve versatility through multiple specialized components rather than one complex multi-functional gripper.
Solution Approach 2:
Multiple grippers are merged into a single robotic hand structure, combining their functions to achieve versatile actions. The first gripper and second gripper work together within one hand structure to perform various operations that would require multiple separate devices.
2Adaptability or versatility
If the first fingers are bent to move to the interference position, then the versatility of actions is improved, but the structural complexity of the fingers increases
Solution Approach 1:
The first fingers are designed with bending capability, transitioning from a static straight structure to a dynamic structure that can change its configuration. This allows the fingers to move between interference and non-interference positions, expanding the range of actionable positions without requiring additional actuators.
Solution Approach 2:
The first fingers incorporate curved or bent geometries instead of straight lines, enabling them to navigate around the workpiece and reach interference positions. The curvature allows the fingers to follow complex trajectories and access positions that would be unreachable with straight fingers.
3Productivity
If two grippers are used in one hand, then the productivity is improved, but the weight of the robotic hand increases
Solution Approach 1:
Both grippers are designed to perform gripping functions, but with different capabilities suited for different tasks. The first gripper with bending fingers handles tasks requiring access to interference positions, while the second gripper handles standard gripping tasks, allowing the system to perform multiple actions without requiring heavy specialized equipment.
Data Source
AI summary
A hand 100 includes a first gripper 2 and a second gripper 5. The second gripper 5 grips a workpiece located on a predetermined axis E. The first gripper 2 includes two first fingers 21 that are opened and closed in a predetermined opening/closing direction. Each of the first fingers 21 includes a first part 22 including a distal end and a second part 23 including a proximal end, and is bent or curved such that the first part 222 moves between an interference position M1 at which an imaginary region X defined by projecting the first part 22 in the opening/closing direction A interferes with the axis E and a non-interference position M2 at which the imaginary region X does not interfere with the axis E.